public void UpdateController() {
INTERACTION_TRANSFORM transform = new INTERACTION_TRANSFORM();
transform.position = Vector3.one.ToCVector();
transform.rotation = Quaternion.identity.ToCQuaternion();
transform.wallTime = 0;
InteractionC.UpdateController(ref _scene, ref transform);
}
public void UpdateController()
{
INTERACTION_TRANSFORM transform = new INTERACTION_TRANSFORM();
transform.position = Vector3.one.ToCVector();
transform.rotation = Quaternion.identity.ToCQuaternion();
transform.wallTime = 0;
InteractionC.UpdateController(ref _scene, ref transform);
}
protected virtual void simulateInteraction()
{
var _controllerTransform = new INTERACTION_TRANSFORM();
_controllerTransform.position = _leapProvider.transform.position.ToCVector();
_controllerTransform.rotation = _leapProvider.transform.rotation.ToCQuaternion();
_controllerTransform.wallTime = Time.fixedTime;
InteractionC.UpdateController(ref _scene, ref _controllerTransform);
}
public void UpdateInstance()
{
INTERACTION_TRANSFORM transform = new INTERACTION_TRANSFORM();
transform.position = Vector3.one.ToCVector();
transform.rotation = Quaternion.identity.ToCQuaternion();
transform.wallTime = 0;
INTERACTION_UPDATE_SHAPE_INFO info = new INTERACTION_UPDATE_SHAPE_INFO();
info.angularAcceleration = Vector3.zero.ToCVector();
info.angularVelocity = Vector3.zero.ToCVector();
info.linearAcceleration = Vector3.zero.ToCVector();
info.linearVelocity = Vector3.zero.ToCVector();
InteractionC.UpdateShapeInstance(ref _scene, ref transform, ref info, ref _shapeInstanceHandle);
}
protected INTERACTION_TRANSFORM getRigidbodyTransform()
{
INTERACTION_TRANSFORM interactionTransform = new INTERACTION_TRANSFORM();
if (IsBeingGrasped)
{
interactionTransform.position = _solvedPosition.ToCVector();
interactionTransform.rotation = _solvedRotation.ToCQuaternion();
}
else
{
interactionTransform.position = _warper.RigidbodyPosition.ToCVector();
interactionTransform.rotation = _warper.RigidbodyRotation.ToCQuaternion();
}
interactionTransform.wallTime = Time.fixedTime;
return(interactionTransform);
}
public override void GetInteractionShapeUpdateInfo(out INTERACTION_UPDATE_SHAPE_INFO updateInfo, out INTERACTION_TRANSFORM interactionTransform) {
updateInfo = new INTERACTION_UPDATE_SHAPE_INFO();
updateInfo.updateFlags = UpdateInfoFlags.VelocityEnabled;
updateInfo.linearVelocity = _rigidbody.velocity.ToCVector();
updateInfo.angularVelocity = _rigidbody.angularVelocity.ToCVector();
if (_isKinematic) {
updateInfo.updateFlags |= UpdateInfoFlags.Kinematic;
} else {
// Generates notifications even when hands are no longer influencing
if (_contactMode == ContactMode.SOFT) {
updateInfo.updateFlags |= UpdateInfoFlags.SoftContact;
}
// All forms of acceleration.
if (_contactMode != ContactMode.GRASPED) {
updateInfo.updateFlags |= UpdateInfoFlags.AccelerationEnabled;
updateInfo.linearAcceleration = _accumulatedLinearAcceleration.ToCVector();
updateInfo.angularAcceleration = _accumulatedAngularAcceleration.ToCVector();
if (_useGravity) {
updateInfo.updateFlags |= UpdateInfoFlags.GravityEnabled;
}
}
}
interactionTransform = getRigidbodyTransform();
}
public override void GetInteractionShapeCreationInfo(out INTERACTION_CREATE_SHAPE_INFO createInfo, out INTERACTION_TRANSFORM createTransform) {
createInfo = new INTERACTION_CREATE_SHAPE_INFO();
createInfo.shapeFlags = ShapeInfoFlags.None;
createTransform = getRigidbodyTransform();
}
public INTERACTION_SHAPE_DESCRIPTION_HANDLE GetCollision(GameObject parentObject) {
parentObject.GetComponentsInChildren<Collider>(_tempColliderList);
// Remove Colliders that are children of other IInteractionBehaviour.
Transform parentTransform = parentObject.transform;
for (int i = _tempColliderList.Count; i-- > 0; ) {
Transform it = _tempColliderList[i].transform;
while (it != parentTransform) {
if (it.GetComponent<IInteractionBehaviour>() != null) {
_tempColliderList.RemoveAt(i);
break;
}
it = it.parent;
}
}
if (_tempColliderList.Count == 0) {
throw new InvalidOperationException("The GameObject " + parentObject + " did not have any colliders.");
}
INTERACTION_SHAPE_DESCRIPTION_HANDLE handle = new INTERACTION_SHAPE_DESCRIPTION_HANDLE();
// Try optimized encodings for a single collider. Everything else is a compound.
if (_tempColliderList.Count == 1) {
if (getCollisionSingleInternal(parentObject, ref handle)) {
return handle;
}
}
INTERACTION_COMPOUND_DESCRIPTION compoundDesc = new INTERACTION_COMPOUND_DESCRIPTION();
compoundDesc.shape.type = ShapeType.Compound;
compoundDesc.nShapes = (uint)_tempColliderList.Count;
compoundDesc.pShapes = StructAllocator.AllocateArray<IntPtr>(_tempColliderList.Count);
compoundDesc.pTransforms = new INTERACTION_TRANSFORM[_tempColliderList.Count];
// The parent's relative pose is a components of the parents transform that
// child transforms are considered to be relative two. In this case scale
// and shear are not considered a property of the parents relative pose and
// therefore these calcualtions will allow the child to inherit the parents
// scale.
Matrix4x4 parentRelativePose = Matrix4x4.TRS(parentObject.transform.position, parentObject.transform.rotation, Vector3.one);
Matrix4x4 inverseParentRelativePose = parentRelativePose.inverse;
for (int i = 0; i < _tempColliderList.Count; i++) {
Collider collider = _tempColliderList[i];
// Transform to apply to collision shape.
Matrix4x4 localToParentRelative = inverseParentRelativePose * collider.transform.localToWorldMatrix;
// Values used to construct INTERACTION_TRANSFORM.
Vector3 parentRelativePos = Vector3.zero;
Quaternion parentRelativeRot = Quaternion.identity;
IntPtr shapePtr;
if (collider is MeshCollider) {
// Mesh always has an identity associated transform that can be baked into the verts.
MeshCollider meshCollider = collider as MeshCollider;
shapePtr = allocateConvex(meshCollider, localToParentRelative);
} else {
// Rotation and scale are lossy when shear is involved.
parentRelativeRot = Quaternion.Inverse(parentObject.transform.rotation) * collider.transform.rotation;
Vector3 scaleAlongLocalToParentAxes = new Vector3(localToParentRelative.GetColumn(0).magnitude,
localToParentRelative.GetColumn(1).magnitude,
localToParentRelative.GetColumn(2).magnitude);
if (collider is SphereCollider) {
SphereCollider sphereCollider = collider as SphereCollider;
parentRelativePos = localToParentRelative.MultiplyPoint(sphereCollider.center);
float aproximateScale = Mathf.Max(scaleAlongLocalToParentAxes.x, Mathf.Max(scaleAlongLocalToParentAxes.y, scaleAlongLocalToParentAxes.z));
shapePtr = allocateSphere(sphereCollider.radius * aproximateScale);
} else if (collider is BoxCollider) {
BoxCollider boxCollider = collider as BoxCollider;
parentRelativePos = localToParentRelative.MultiplyPoint(boxCollider.center);
Vector3 extents = boxCollider.size * 0.5f;
extents.Scale(scaleAlongLocalToParentAxes);
shapePtr = allocateObb(extents);
} else if (collider is CapsuleCollider) {
CapsuleCollider capsuleCollider = collider as CapsuleCollider;
if ((uint)capsuleCollider.direction >= 3u)
throw new InvalidOperationException("Unexpected capsule direction " + capsuleCollider.direction);
parentRelativePos = localToParentRelative.MultiplyPoint(capsuleCollider.center);
Vector3 primaryAxis = new Vector3((capsuleCollider.direction == 0) ? 1 : 0, (capsuleCollider.direction == 1) ? 1 : 0, (capsuleCollider.direction == 2) ? 1 : 0);
float primaryAxisScale = scaleAlongLocalToParentAxes[capsuleCollider.direction];
float perpendicularScale = Mathf.Max(scaleAlongLocalToParentAxes[(capsuleCollider.direction + 1) % 3], scaleAlongLocalToParentAxes[(capsuleCollider.direction + 2) % 3]);
float scaledHeight = capsuleCollider.height * primaryAxisScale;
float scaledRadius = capsuleCollider.radius * perpendicularScale;
float interiorExtent = (scaledHeight * 0.5f) - scaledRadius;
Vector3 p0 = primaryAxis * interiorExtent;
shapePtr = allocateCapsule(p0, -p0, scaledRadius);
} else {
throw new InvalidOperationException("Unsupported collider type " + collider.GetType());
}
}
StructMarshal<IntPtr>.CopyIntoArray(compoundDesc.pShapes, ref shapePtr, i);
INTERACTION_TRANSFORM ieTransform = new INTERACTION_TRANSFORM();
ieTransform.position = parentRelativePos.ToCVector();
ieTransform.rotation = parentRelativeRot.ToCQuaternion();
compoundDesc.pTransforms[i] = ieTransform;
}
IntPtr compoundPtr = StructAllocator.AllocateStruct(ref compoundDesc);
InteractionC.AddShapeDescription(ref _scene, compoundPtr, out handle);
StructAllocator.CleanupAllocations();
_tempColliderList.Clear();
_allHandles[handle] = new ShapeInfo(isCached: false);
return handle;
}
public override void Setup() {
base.Setup();
INTERACTION_SPHERE_DESCRIPTION sphere = new INTERACTION_SPHERE_DESCRIPTION();
sphere.shape.type = ShapeType.Sphere;
sphere.radius = 1.0f;
IntPtr spherePtr = StructAllocator.AllocateStruct(ref sphere);
InteractionC.AddShapeDescription(ref _scene, spherePtr, out _shapeDescriptionHandle);
INTERACTION_CREATE_SHAPE_INFO info = new INTERACTION_CREATE_SHAPE_INFO();
info.shapeFlags = ShapeInfoFlags.None;
INTERACTION_TRANSFORM transform = new INTERACTION_TRANSFORM();
transform.position = Vector3.zero.ToCVector();
transform.rotation = Quaternion.identity.ToCQuaternion();
transform.wallTime = 0;
InteractionC.CreateShapeInstance(ref _scene, ref _shapeDescriptionHandle, ref transform, ref info, out _shapeInstanceHandle);
}
/// <summary> /// Called by InteractionManager to get the update info needed to update the internal state of the object. /// </summary> public abstract void GetInteractionShapeUpdateInfo(out INTERACTION_UPDATE_SHAPE_INFO updateInfo, out INTERACTION_TRANSFORM interactionTransform);
public override void GetInteractionShapeUpdateInfo(out INTERACTION_UPDATE_SHAPE_INFO updateInfo, out INTERACTION_TRANSFORM interactionTransform)
{
updateInfo = new INTERACTION_UPDATE_SHAPE_INFO();
updateInfo.updateFlags = UpdateInfoFlags.VelocityEnabled;
updateInfo.linearVelocity = _rigidbody.velocity.ToCVector();
updateInfo.angularVelocity = _rigidbody.angularVelocity.ToCVector();
if (_isKinematic)
{
updateInfo.updateFlags |= UpdateInfoFlags.Kinematic;
}
else
{
// Generates notifications even when hands are no longer influencing
if (_contactMode == ContactMode.SOFT)
{
updateInfo.updateFlags |= UpdateInfoFlags.SoftContact;
}
// All forms of acceleration.
if (_contactMode != ContactMode.GRASPED)
{
updateInfo.updateFlags |= UpdateInfoFlags.AccelerationEnabled;
updateInfo.linearAcceleration = _accumulatedLinearAcceleration.ToCVector();
updateInfo.angularAcceleration = _accumulatedAngularAcceleration.ToCVector();
if (_useGravity)
{
updateInfo.updateFlags |= UpdateInfoFlags.GravityEnabled;
}
}
}
interactionTransform = getRigidbodyTransform();
}
/// <summary> /// Called by InteractionManager to get the creation info used to create the shape associated with this InteractionBehaviour. /// </summary> /// <param name="createInfo"></param> /// <param name="createTransform"></param> public abstract void GetInteractionShapeCreationInfo(out INTERACTION_CREATE_SHAPE_INFO createInfo, out INTERACTION_TRANSFORM createTransform);
public INTERACTION_SHAPE_DESCRIPTION_HANDLE GetCollision(GameObject parentObject)
{
parentObject.GetComponentsInChildren <Collider>(_tempColliderList);
// Remove Colliders that are children of other IInteractionBehaviour.
Transform parentTransform = parentObject.transform;
for (int i = _tempColliderList.Count; i-- > 0;)
{
Transform it = _tempColliderList[i].transform;
while (it != parentTransform)
{
if (it.GetComponent <IInteractionBehaviour>() != null)
{
_tempColliderList.RemoveAt(i);
break;
}
it = it.parent;
}
}
if (_tempColliderList.Count == 0)
{
throw new InvalidOperationException("The GameObject " + parentObject + " did not have any colliders.");
}
INTERACTION_SHAPE_DESCRIPTION_HANDLE handle = new INTERACTION_SHAPE_DESCRIPTION_HANDLE();
// Try optimized encodings for a single collider. Everything else is a compound.
if (_tempColliderList.Count == 1)
{
if (getCollisionSingleInternal(parentObject, ref handle))
{
return(handle);
}
}
INTERACTION_COMPOUND_DESCRIPTION compoundDesc = new INTERACTION_COMPOUND_DESCRIPTION();
compoundDesc.shape.type = ShapeType.Compound;
compoundDesc.nShapes = (uint)_tempColliderList.Count;
compoundDesc.pShapes = StructAllocator.AllocateArray <IntPtr>(_tempColliderList.Count);
compoundDesc.pTransforms = new INTERACTION_TRANSFORM[_tempColliderList.Count];
// The parent's relative pose is a components of the parents transform that
// child transforms are considered to be relative two. In this case scale
// and shear are not considered a property of the parents relative pose and
// therefore these calcualtions will allow the child to inherit the parents
// scale.
Matrix4x4 parentRelativePose = Matrix4x4.TRS(parentObject.transform.position, parentObject.transform.rotation, Vector3.one);
Matrix4x4 inverseParentRelativePose = parentRelativePose.inverse;
for (int i = 0; i < _tempColliderList.Count; i++)
{
Collider collider = _tempColliderList[i];
// Transform to apply to collision shape.
Matrix4x4 localToParentRelative = inverseParentRelativePose * collider.transform.localToWorldMatrix;
// Values used to construct INTERACTION_TRANSFORM.
Vector3 parentRelativePos = Vector3.zero;
Quaternion parentRelativeRot = Quaternion.identity;
IntPtr shapePtr;
if (collider is MeshCollider)
{
// Mesh always has an identity associated transform that can be baked into the verts.
MeshCollider meshCollider = collider as MeshCollider;
shapePtr = allocateConvex(meshCollider, localToParentRelative);
}
else
{
// Rotation and scale are lossy when shear is involved.
parentRelativeRot = Quaternion.Inverse(parentObject.transform.rotation) * collider.transform.rotation;
Vector3 scaleAlongLocalToParentAxes = new Vector3(localToParentRelative.GetColumn(0).magnitude,
localToParentRelative.GetColumn(1).magnitude,
localToParentRelative.GetColumn(2).magnitude);
if (collider is SphereCollider)
{
SphereCollider sphereCollider = collider as SphereCollider;
parentRelativePos = localToParentRelative.MultiplyPoint(sphereCollider.center);
float aproximateScale = Mathf.Max(scaleAlongLocalToParentAxes.x, Mathf.Max(scaleAlongLocalToParentAxes.y, scaleAlongLocalToParentAxes.z));
shapePtr = allocateSphere(sphereCollider.radius * aproximateScale);
}
else if (collider is BoxCollider)
{
BoxCollider boxCollider = collider as BoxCollider;
parentRelativePos = localToParentRelative.MultiplyPoint(boxCollider.center);
Vector3 extents = boxCollider.size * 0.5f;
extents.Scale(scaleAlongLocalToParentAxes);
shapePtr = allocateObb(extents);
}
else if (collider is CapsuleCollider)
{
CapsuleCollider capsuleCollider = collider as CapsuleCollider;
if ((uint)capsuleCollider.direction >= 3u)
{
throw new InvalidOperationException("Unexpected capsule direction " + capsuleCollider.direction);
}
parentRelativePos = localToParentRelative.MultiplyPoint(capsuleCollider.center);
Vector3 primaryAxis = new Vector3((capsuleCollider.direction == 0) ? 1 : 0, (capsuleCollider.direction == 1) ? 1 : 0, (capsuleCollider.direction == 2) ? 1 : 0);
float primaryAxisScale = scaleAlongLocalToParentAxes[capsuleCollider.direction];
float perpendicularScale = Mathf.Max(scaleAlongLocalToParentAxes[(capsuleCollider.direction + 1) % 3], scaleAlongLocalToParentAxes[(capsuleCollider.direction + 2) % 3]);
float scaledHeight = capsuleCollider.height * primaryAxisScale;
float scaledRadius = capsuleCollider.radius * perpendicularScale;
float interiorExtent = (scaledHeight * 0.5f) - scaledRadius;
Vector3 p0 = primaryAxis * interiorExtent;
shapePtr = allocateCapsule(p0, -p0, scaledRadius);
}
else
{
throw new InvalidOperationException("Unsupported collider type " + collider.GetType());
}
}
StructMarshal <IntPtr> .CopyIntoArray(compoundDesc.pShapes, ref shapePtr, i);
INTERACTION_TRANSFORM ieTransform = new INTERACTION_TRANSFORM();
ieTransform.position = parentRelativePos.ToCVector();
ieTransform.rotation = parentRelativeRot.ToCQuaternion();
compoundDesc.pTransforms[i] = ieTransform;
}
IntPtr compoundPtr = StructAllocator.AllocateStruct(ref compoundDesc);
InteractionC.AddShapeDescription(ref _scene, compoundPtr, out handle);
StructAllocator.CleanupAllocations();
_tempColliderList.Clear();
_allHandles[handle] = new ShapeInfo(isCached: false);
return(handle);
}
protected virtual void simulateInteraction() {
var _controllerTransform = new INTERACTION_TRANSFORM();
_controllerTransform.position = _leapProvider.transform.position.ToCVector();
_controllerTransform.rotation = _leapProvider.transform.rotation.ToCQuaternion();
_controllerTransform.wallTime = Time.fixedTime;
InteractionC.UpdateController(ref _scene, ref _controllerTransform);
}
protected INTERACTION_TRANSFORM getRigidbodyTransform() {
INTERACTION_TRANSFORM interactionTransform = new INTERACTION_TRANSFORM();
if (IsBeingGrasped) {
interactionTransform.position = _solvedPosition.ToCVector();
interactionTransform.rotation = _solvedRotation.ToCQuaternion();
} else {
interactionTransform.position = _warper.RigidbodyPosition.ToCVector();
interactionTransform.rotation = _warper.RigidbodyRotation.ToCQuaternion();
}
interactionTransform.wallTime = Time.fixedTime;
return interactionTransform;
}
public override void GetInteractionShapeCreationInfo(out INTERACTION_CREATE_SHAPE_INFO createInfo, out INTERACTION_TRANSFORM createTransform)
{
createInfo = new INTERACTION_CREATE_SHAPE_INFO();
createInfo.shapeFlags = ShapeInfoFlags.None;
createTransform = getRigidbodyTransform();
}
/// <summary> /// Called by InteractionManager to get the update info needed to update the internal state of the object. /// </summary> public abstract void GetInteractionShapeUpdateInfo(out INTERACTION_UPDATE_SHAPE_INFO updateInfo, out INTERACTION_TRANSFORM interactionTransform);
public void UpdateInstance() {
INTERACTION_TRANSFORM transform = new INTERACTION_TRANSFORM();
transform.position = Vector3.one.ToCVector();
transform.rotation = Quaternion.identity.ToCQuaternion();
transform.wallTime = 0;
INTERACTION_UPDATE_SHAPE_INFO info = new INTERACTION_UPDATE_SHAPE_INFO();
info.angularAcceleration = Vector3.zero.ToCVector();
info.angularVelocity = Vector3.zero.ToCVector();
info.linearAcceleration = Vector3.zero.ToCVector();
info.linearVelocity = Vector3.zero.ToCVector();
InteractionC.UpdateShapeInstance(ref _scene, ref transform, ref info, ref _shapeInstanceHandle);
}
/// <summary> /// Called by InteractionManager to get the creation info used to create the shape associated with this InteractionBehaviour. /// </summary> /// <param name="createInfo"></param> /// <param name="createTransform"></param> public abstract void GetInteractionShapeCreationInfo(out INTERACTION_CREATE_SHAPE_INFO createInfo, out INTERACTION_TRANSFORM createTransform);
